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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh, |
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// Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#ifndef BINDINGS_PYTHON_CROCODDYL_CORE_SOLVER_BASE_HPP_ |
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#define BINDINGS_PYTHON_CROCODDYL_CORE_SOLVER_BASE_HPP_ |
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#include <memory> |
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#include <vector> |
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#include "crocoddyl/core/solver-base.hpp" |
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#include "python/crocoddyl/core/core.hpp" |
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namespace crocoddyl { |
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namespace python { |
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class SolverAbstract_wrap : public SolverAbstract, |
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public bp::wrapper<SolverAbstract> { |
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public: |
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using SolverAbstract::cost_; |
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using SolverAbstract::d_; |
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using SolverAbstract::dfeas_; |
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using SolverAbstract::dPhi_; |
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using SolverAbstract::dPhiexp_; |
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using SolverAbstract::dV_; |
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using SolverAbstract::dVexp_; |
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using SolverAbstract::feas_; |
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using SolverAbstract::ffeas_; |
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using SolverAbstract::ffeas_try_; |
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using SolverAbstract::fs_; |
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using SolverAbstract::gfeas_; |
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using SolverAbstract::gfeas_try_; |
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using SolverAbstract::hfeas_; |
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using SolverAbstract::hfeas_try_; |
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using SolverAbstract::is_feasible_; |
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using SolverAbstract::iter_; |
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using SolverAbstract::merit_; |
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using SolverAbstract::steplength_; |
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using SolverAbstract::stop_; |
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using SolverAbstract::us_; |
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using SolverAbstract::xs_; |
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explicit SolverAbstract_wrap(std::shared_ptr<ShootingProblem> problem) |
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: SolverAbstract(problem), bp::wrapper<SolverAbstract>() {} |
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~SolverAbstract_wrap() {} |
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bool solve(const std::vector<Eigen::VectorXd>& init_xs, |
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const std::vector<Eigen::VectorXd>& init_us, |
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const std::size_t maxiter, const bool is_feasible, |
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const double reg_init) { |
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return bp::call<bool>(this->get_override("solve").ptr(), init_xs, init_us, |
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maxiter, is_feasible, reg_init); |
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} |
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void computeDirection(const bool recalc = true) { |
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return bp::call<void>(this->get_override("computeDirection").ptr(), recalc); |
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} |
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double tryStep(const double step_length = 1) { |
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return bp::call<double>(this->get_override("tryStep").ptr(), step_length); |
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} |
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double stoppingCriteria() { |
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stop_ = bp::call<double>(this->get_override("stoppingCriteria").ptr()); |
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return stop_; |
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} |
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const Eigen::Vector2d& expectedImprovement() { |
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bp::list exp_impr = |
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bp::call<bp::list>(this->get_override("expectedImprovement").ptr()); |
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d_ << bp::extract<double>(exp_impr[0]), bp::extract<double>(exp_impr[1]); |
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return d_; |
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} |
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bp::list expectedImprovement_wrap() { |
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expectedImprovement(); |
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bp::list exp_impr; |
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exp_impr.append(d_[0]); |
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exp_impr.append(d_[1]); |
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return exp_impr; |
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} |
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}; |
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class CallbackAbstract_wrap : public CallbackAbstract, |
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public bp::wrapper<CallbackAbstract> { |
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public: |
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CallbackAbstract_wrap() |
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: CallbackAbstract(), bp::wrapper<CallbackAbstract>() {} |
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~CallbackAbstract_wrap() {} |
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void operator()(SolverAbstract& solver) { |
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return bp::call<void>(this->get_override("__call__").ptr(), |
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boost::ref(solver)); |
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} |
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}; |
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(setCandidate_overloads, |
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SolverAbstract::setCandidate, 0, 3) |
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} // namespace python |
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} // namespace crocoddyl |
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#endif // BINDINGS_PYTHON_CROCODDYL_CORE_SOLVER_BASE_HPP_ |
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